#ifndef CALIBRATION_H
#define CALIBRATION_H
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui_c.h>
#include <opencv2/calib3d.hpp>

using namespace std;
//求carla中从carla坐标到俯视地图中像素坐标的转换矩阵
class calibration
{
public:
    calibration();
    vector<cv::Point2f> world_points;
    vector<cv::Point2f> image_points;
    cv::Mat test_world_points;
    cv::Mat test_image_points;
    cv::Mat H;
    cv::Mat R,T;


    void read_points();
    void getH();
    cv::Mat valuate();

};

#endif // CALIBRATION_H
